Haptic Interaction with Deformable Objects [electronic resource] : Modelling VR Systems for Textiles /
Böttcher, Guido.author.
The focus from most Virtual Reality (VR) systems lies mainly on the visual immersion of the user. But the emphasis only on the visual perception is insufficient for some applications as the user is limited in his interactions within the VR. Therefore the textbook presents the principles and theoretical background to develop a VR system that is able to create a link between physical simulations and haptic rendering which requires update rates of 1\,kHz for the force feedback. Special attention is given to the modeling and computation of contact forces in a two-finger grasp of textiles. Addressing further the perception of small scale surface properties like roughness, novel algorithms are presented that are not only able to consider the highly dynamic behaviour of textiles but also capable of computing the small forces needed for the tactile rendering at the contact point. Final analysis of the entire VR system is being made showing the problems and the solutions found in the work.
Description based upon print version of record.
Haptic Interaction with Deformable Objects; Series Editors' Foreword; Preface; Contents; Acronyms; Chapter 1: Introduction; 1.1 Previous Work; References; Chapter 2: Physical Simulation; 2.1 Elementary Units and Principles; 2.1.1 Conventions; 2.1.2 Energy and Conservation; 2.1.3 Multibody Systems and Constrained Motions; 2.1.4 Constraints; 2.2 Continuum Formulation; 2.2.1 Internal Strains; 2.2.2 Mechanical Stresses; 2.2.3 Constitutive Equations; 2.2.4 Energy Principles and Variational Approach; 2.2.4.1 Hamilton's Principle; 2.3 Numerical Simulation; 2.3.1 Discretisation and Solution
2.3.2 Textile Simulation Model2.3.3 Optimised Force Calculations; 2.3.4 Numerical Integration; 2.3.5 Numerical Stability; 2.3.6 Linear Solvers; 2.3.6.1 Krylov-Subspace Methods; 2.3.6.2 Conjugate Gradient-Method; 2.3.6.3 Preconditioning of the CG Method; 2.4 Measuring Physical Properties; 2.4.1 Textile Parameters; References; Chapter 3: Haptic Interaction; 3.1 Preliminaries; 3.1.1 Touch Perception; 3.1.2 Haptic Devices; 3.1.3 Control Theory; 3.1.4 Signal Processing; 3.1.5 Stability; 3.1.6 Virtual Coupling; 3.2 GRAB Device; 3.3 Haptic Rendering; 3.3.1 Contact Modeling; 3.4 Collision Detection
3.4.1 Bounding Volumes3.4.1.1 Bounding Sphere and Bounding Box; 3.4.1.2 Oriented Bounding Box and Discrete Oriented Polytope; 3.4.1.3 Discrete Oriented Polytope; 3.4.1.4 Spherical Shell; 3.4.1.5 Convex Hull; 3.4.2 Bounding Volume Hierarchy; 3.4.2.1 Construction; 3.4.3 Complete Collision Query; References; Chapter 4: VR System Framework; 4.1 Overview of the Architecture; 4.1.1 Application Flow Inside the Framework; 4.2 Global Simulation; 4.2.1 Material Properties; 4.3 Local Simulation; 4.3.1 Contact Model; 4.3.1.1 Finger-Finger Contact; 4.3.1.2 Single-Finger Contact; 4.3.1.3 Two-Finger Case
4.3.2 Providing Contact Information for Tactile Rendering4.4 Coupling of Global and Local Simulation; 4.4.1 Synchronisation of Simulations; 4.4.2 Run-Time Control; References; Chapter 5: Analysis of the VR System; 5.1 Effects of the Asynchronous Coupling; 5.1.1 Impact on Dynamics; 5.1.2 Interaction Tests; 5.2 Haptic Device; 5.2.1 Linearity Analysis; 5.2.2 Estimation of the Sensor Resolution; 5.2.3 Frequency Response; 5.2.4 Latencies; 5.3 Numerical Simulation; 5.4 Evaluation of the System; 5.4.1 Objective Validation; 5.4.2 Subjective Evaluation; 5.5 Conclusion; References
Chapter 6: Summary & OutlookReferences; Index
Includes bibliographical references and index.
The focus from most Virtual Reality (VR) systems lies mainly on the visual immersion of the user. But the emphasis only on the visual perception is insufficient for some applications as the user is limited in his interactions within the VR. Therefore the textbook presents the principles and theoretical background to develop a VR system that is able to create a link between physical simulations and haptic rendering which requires update rates of 1\,kHz for the force feedback. Special attention is given to the modeling and computation of contact forces in a two-finger grasp of textiles. Addressing further the perception of small scale surface properties like roughness, novel algorithms are presented that are not only able to consider the highly dynamic behaviour of textiles but also capable of computing the small forces needed for the tactile rendering at the contact point. Final analysis of the entire VR system is being made showing the problems and the solutions found in the work.
Computer simulation.
Computer mathematics.
Mechanics.
Mechanics, Applied.
Simulation and Modeling.
Computational Mathematics and Numerical Analysis.
Solid Mechanics.
Springer Series on Touch and Haptic Systems